Force feedback system and actuator power management

• US 7,345,672 B2
• Filed: 02/27/2004
• Issued: 03/18/2008
• Est. Priority Date: 12/02/1992
• Status: Expired due to Fees

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Immersion Corporation
• Inventors: Taylor, Mark J., Riggs, Alan J., Jacobus, Charles J.
• Primary Examiner(s): Hjerpe; Richard
• Assistant Examiner(s): Said; Mansour M.
• Application Number:
  US10/788,538
• Publication Number:
  US 20040164960A1
• Time in Patent Office: 1,481 Days
• Field of Search: 345156-158, 345161-167, 345/172, 318560-696, 395/95, 395/99, 434/45, 744/71
• US Class Current: 345/156
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 2219/35416 3-D joystick
• CPC Class Codes: G05B 2219/37396 Tactile feedback, operator feels reaction, force reflection
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• CPC Class Codes: G05G 9/04737 with six degrees of freedom
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs, which provide gravity compensation so that the manipulator effectively floats.

Claims

1. A method comprising:

outputting a maximum peak force from an actuator on a manipulandum, the maximum peak force associated with a maximum power that the actuator can utilize instantaneously; and

reducing the output of the maximum peak force to an output of a nominal peak force from the actuator when the power utilized by the actuator exceeds an average power level over a predetermined period of time, the nominal peak force associated with a maximum power that the actuator can utilize in continuous steady-state operation.

2. The method of claim 1, wherein outputting the maximum peak force occurs upon initial contact with a simulated object.

3. The method of claim 1, wherein the maximum peak force comprises a magnitude of about twice the magnitude of the nominal peak force.

4. The method of claim 1, wherein the nominal peak force is associated with an average current during operation of the actuator.

5. The method of claim 1, further comprising determining when the power utilized by the actuator exceeds the average power level over the predetermined period of time.

6. The method of claim 1, wherein the predetermined period of time is about two seconds.

7. A method comprising:

receiving an input signal comprising a position of a manipulandum;

determining a stored force feedback effect to contribute to a force output by an actuator on the manipulandum, the stored force feedback effect comprising a force feedback effect type and a magnitude;

receiving a second signal comprising a calculated force feedback effect; and

determining a combined force feedback effect to contribute to a force output by an actuator on the manipulandum, the combined force feedback effect comprising the stored force feedback effect and the calculated force feedback effect.

8. The method of claim 7, wherein the manipulandum comprises a joystick.

9. The method of claim 7, wherein the stored force feedback effect comprises one of a detent effect, a wall effect, and a spring effect.

10. The method of claim 7, wherein the stored force feedback effect includes at least one parameter, and wherein the at least one parameter is at least one of a stiffness parameter, a damping parameter, a force parameter, and a distance parameter.

11. The method of claim 7, wherein the combined force feedback effect comprises a sum of force contributions from a plurality of stored force feedback effects.

12. The method of claim 7, further comprising:

calculating a velocity of a movement of the manipulandum based at least in part on information received from a position sensor coupled to the manipulandum, and

wherein the force output by the actuator is based at least in part on a velocity of a movement of the manipulandum.